Document Type


Publication Date

May 2019

Patent Number



A61H 1/0274, A61H 1/02, A61H 2001/0203, A61H 2201/12, A61H 2201/1253, A61H 2201/1261, A61H 2201/1269, A61H 2201/1276, A61H 2201/1635, A61H 2201/1638, A61H 2201/1664, A61H 2201/1666, A61H 2201/1671, A61H 2201/50, A61H 2201/5064, A61H 2201/5069, A61H 2201/5071, A61B 5/1121, A61B 5/1124, A61B 2505/09, A63B 23/12, A63B 21/154, A63B 21/0428, A63B 22/0015, A63B 22/0017


A compliant bimanual rehabilitation system. The device allows for the user or operator's hands to be coupled with a variety of coupling stiffnesses and in a variety of symmetry modes, leading to enhanced rehabilitation of the impaired arm. Structurally, the device includes a carrier assembly slidably coupled to a base along a y-axis, an upper assembly rotatably coupled to the carrier assembly along a z-axis, handle slides slidably coupled to the upper assembly along an x-axis, compliant handle assemblies coupled to the handle slides, and handles coupled to the compliant handle assemblies. Encoders and load cells can also be positioned accordingly to monitor the position of the components and force applied to the device. Spring stacks can be coupled to the compliant handle assemblies to adjust coupling stiffnesses. The handles are indirectly linked to each other to facilitate rehabilitation of the paretic arm using the sound arm.

Application Number



University of South Florida

Filing Date